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Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot
Mao, Xiaoqian; Wen, Xi; Song, Yu; Li W(李伟); Chen, Genshe
作者部门水下机器人研究室
关键词Hand-free Control Google Glass Head Gesture Nao Humanoid Robot Reference Drift Sensor Fusion Complementary Filter
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8814
2017
卷号14期号:2页码:1-10
收录类别SCI ; EI
EI收录号20171803634370
WOS记录号WOS:000400392100001
产权排序2
资助机构National Natural Science Foundation of China [61473207]
摘要This article presents a strategy for hand-free control of an NAO humanoid robot via head gesture detected by Google Glass-based multi-sensor fusion. First, we introduce a Google Glass-based robot system by integrating the Google Glass and the NAO humanoid robot, which is able to send robot commands through Wi-Fi communications between the Google Glass and the robot. Second, we detect the operator's head gestures by processing data from multiple sensors including accelerometers, geomagnetic sensors and gyroscopes. Next, we use a complementary filter to eliminate drift of the head gesture reference, which greatly improves the control performance. This is accomplished by the high-pass filter component on the control signal. Finally, we conduct obstacle avoidance experiments while navigating the robot to validate the effectiveness and reliability of this system. The experimental results show that the robot is smoothly navigated from its initial position to its destination with obstacle avoidance via the Google Glass. This hands-free control system can benefit those with paralysed limbs.
语种英语
关键词[WOS]MULTIROBOT CONTROL ; SPACE TETHER
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20289
专题水下机器人研究室
通讯作者Li W(李伟)
作者单位1.School of Electrical Engineering and Automation, Tianjin University, Tianjin, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, Liaoning, China
3.Department of Computer and Electrical Engineering and Science, California State University, Bakersfield, CA, United States
4.Intelligent Fusion Technology, Inc., Germantown, MD, United States
推荐引用方式
GB/T 7714
Mao, Xiaoqian,Wen, Xi,Song, Yu,et al. Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2017,14(2):1-10.
APA Mao, Xiaoqian,Wen, Xi,Song, Yu,Li W,&Chen, Genshe.(2017).Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,14(2),1-10.
MLA Mao, Xiaoqian,et al."Eliminating drift of the head gesture reference to enhance Google Glass-based control of an NAO humanoid robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 14.2(2017):1-10.
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